Biblio

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Rolf M, Steil JJ, Gienger M..  2010.  Goal Babbling permits direct learning of inverse kinematics. IEEE Trans. Autonomous Mental Development. 2:216–229.
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Muehlig M, Steil JJ, Gienger M..  2012.  Interactive Imitation Learning of Object Movement Skills. Autonomous Robots. 32:97–114.